CN108445914A - A kind of unmanned plane formation performance system and its implementation based on UWB positioning - Google Patents
A kind of unmanned plane formation performance system and its implementation based on UWB positioning Download PDFInfo
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
A kind of unmanned plane formation performance system and its implementation based on UWB positioning, 3 D positioning system using the Technology of Ultra and the TDoA technologies of time-division structure for indoor and outdoors small area, it is combined using multiple technologies such as miniature four-axle aircraft formation navigation flight technology and full-color LED light regulating technologies, can be used for the performance system of indoor and outdoor small area.In three-dimensional localization region, aircraft cluster carries out navigation flight according to the track of planning, and control is mounted in the colour switching of the LED light of the tunable optical on multiple minute vehicles, constructs various static and dynamic flying patterns, generates stronger visual effect.Due to the technology being combined using the timesharing TDoA technologies based on UWB, computer simulation minute vehicle cluster flight patterning technique, unmanned plane cluster flight pattern distribution memory technology, the synchronization of PC coordinators and motor synchronizing, the price of whole system can be reduced.
Description
Technical field
The present invention relates to unmanned plane form into columns perform, more particularly, to can work indoors and outdoor minitype region unmanned plane compile
A kind of the unmanned plane formation performance system and its implementation based on UWB positioning of team's performance.
Background technology
Miniature four-axle aircraft can freely realize moving freely in hovering and space, have prodigious flexibility,
It has it is simple in structure, stability is good, it is of low cost, cost-effective the advantages that.Application of the four-axle aircraft in consumer product
It is concentrated mainly on toy, model plane and takes photo by plane.With the fast development of miniature drone field, the direction of academic research has turned to
The formation control of intelligent navigation, multi-aircraft based on four-axle aircraft, in unmanned air vehicle technique development, above " cluster unmanned plane is to become
Gesture " is accepted by industry.
In concrete application, a unmanned plane group of planes also quietly occurs for light show.Since the end of the year 2016, a unmanned plane group of planes
Performance technology is fast-developing.Specific application scenarios, as Super Bowl in 2017 field between perform, 300 frame unmanned planes and Lady
Gaga performs on the same stage.Outdoor unmanned plane high-altitude, which is formed into columns, performs, and in the performance of a unmanned plane group of planes, has in group of planes coordination sizable
Difficulty has very high requirement to Aerial vehicle position precision with control control accuracy is flown.
Although global position system GPS has been widely used in the positioning to outdoor target, because of its letter
The application that number can not be penetrated the construction material in room and it is made to be difficult to adapt to indoor environment, meanwhile, GPS is usually in consumer level
Positioning accuracy cannot be satisfied the requirement of unmanned plane formation performance at several meters；The real-time pseudo range difference (RTD) and real-time phase of GPS
The positioning accuracy of difference (RTK) technology can reach decimeter grade and Centimeter Level respectively, but the cost of both technologies is very high, volume
It is larger to be mounted in miniature drone.
In the technology that unmanned plane is formed into columns, the mark on unmanned plane is mounted on using multiple high speed infrared camera real-time grasp shoots
Remember point, then to carrying out image procossing and real-time resolving, although precision can reach requirement, the defect of this mode exists
In the quantity of the unmanned plane for performance of forming into columns is very limited, and the performance region of unmanned plane is also limited by the ken model of infrared camera
It encloses, meanwhile, the price of positioning system is very high.
Invention content
The object of the present invention is to provide the performance that can be used for indoor and outdoors small area, the unmanned plane number for making participation perform
Amount is more as possible, while reducing a kind of unmanned plane formation performance system positioned based on UWB and its realization side of whole system price
Method.
The unmanned plane formation performance system based on UWB positioning is equipped with UWB three-dimensional localizations subsystem, minute vehicle
System, formation navigation subsystem, router and coordinator；
The UWB three-dimensional localizations subsystem is made of 8 positioning anchor point A1~A7 based on super wideband wireless transceiver module,
Described 8 positioning anchor point A1~A7 based on super wideband wireless transceiver module cycle through positioning in slot cycle T0~T7 successively
Signal；
The minute vehicle subsystem is by Cortex M4MCU, gyroscope acceleration transducer, motor driver, UWB
The flash memory of Tag, 2.4GHz communication module, all-colour LED light-adjusting module and large capacity forms；
The formation navigation subsystem uses flight pattern by computer simulation minute vehicle cluster flight pattern
It is distributed memory technology；
The coordinator is the interface of PC server control and transceiving data, and the Ethernet interface of coordinator passes through router
It is connected with PC server；The 2.4Ghz wireless interfaces of coordinator forward the order and data from Ethernet interface, the coordinator
2.4Ghz wireless interfaces be with aircraft carry out data exchange interface.
Described 8 positioning anchor point A1~A7 based on super wideband wireless transceiver module are recycled in slot cycle T0~T7 successively
Send the method that the TDoA based on the time-division can be used in positioning signal.
Full color dimming LED (Light Emitting Diode) is carried as luminous point, all minute vehicle light in minute vehicle subsystem bottom
Point is arranged in the preset dynamic pattern of computer.
The implementation method of the unmanned plane formation performance based on UWB positioning includes the following steps：
1) UWB three-dimensional localizations subsystem is made of 8 positioning anchor point A0~A7 based on super wideband wireless transceiver module, is adopted
With the method for the TDoA based on the time-division, 8 anchor points cycle through positioning signal in slot cycle T0~T7 successively；
Using DW1000 modules reservation sending function be accurately controlled slot cycle Tslot and according between anchor point away from
The time of A1~A7 and A0 can be made to be aligned from the property being to determine, so that the work clock of each anchor point is synchronized, synchronize it
UWB modules on minute vehicle afterwards are easy to get the time differences for locating signal to Tag flights of A0~A7 between any two,
And the resolving of three-dimensional coordinate is carried out using least square method, Taylor series expansion, chan algorithms, obtain aircraft it is current (x, y,
Z) coordinate；
2) minute vehicle subsystem is by Cortex M4MCU, gyroscope acceleration transducer, motor driver, UWB
The flash memory of Tag, 2.4GHz communication module, all-colour LED light-adjusting module and large capacity forms；
In the good flight pattern of flash memory distribution memory utilization of the large capacity with oneself relevant part, often
One synchronizing cycle, MCU took out preset coordinate and the three-dimensional coordinate of real-time resolving is compared, result of the comparison from memory
For adjusting the motor of aircraft to control the motion state of aircraft, the position of aircraft is made to be continuously subject to preset coordinate；
Full color dimming LED (Light Emitting Diode) is carried as luminous point in minute vehicle subsystem bottom, each synchronizing cycle MCU from
Preset value is taken out in memory, controls the color and brightness change of luminous point, all minute vehicle spot arrangements are at calculating
The preset dynamic pattern of machine；
3) formation navigation subsystem is divided by computer simulation minute vehicle cluster flight pattern, and using flight pattern
Cloth memory technology；
After determining flight scenario demand, by the flight pattern of computer simulation minute vehicle cluster, and obtain each
The flight path of a luminous point (i.e. minute vehicle, aircraft carry LED light optical module), that is, it is (miniature to fly to obtain each luminous point
Row device) three-dimensional coordinate, color and the flying speed of flight path be sent to aircraft, and aircraft receives relevant with oneself
It is stored in after flight pattern in large capacity flash memory, the distribution memory technology of flight pattern is realized, due to using large capacity
Storage and distribution storage, aircraft can store multiple flight patterns；
4) scheme that formation navigation subsystem is synchronized using coordinator and aircraft motor synchronizing is combined reduces communication load
And communication failure：After finishing patterns transmission, PC sends synchronic command in each synchronizing cycle by coordinator, and all flies
When receiving synchronic command, the work clock of aircraft is synchronized with the work clock of PC coordinators to be aligned row device；Performance
When, aircraft synchronizes update after receiving synchronic command to the flight path of oneself, color and flying speed；Once in a while
When being not received by synchronic command, minute vehicle can also carry out the synchronization of flight path more according to the work clock of oneself
Newly；When entire flight scenario is finished, PC coordinators send out recovery command, and aircraft makes a return voyage；
5) coordinator is the interface of PC server control and transceiving data, the Ethernet interface of coordinator by router and
PC server connects；The 2.4Ghz wireless interfaces of coordinator, forward the order and data from Ethernet interface, be with aircraft into
The interface of row data exchange.
In step 1), in the sub- positioning system of UWB three-dimensional localizations, the method for the TDoA based on the time-division, when defining 8
Gap T0~T7,8 positioning anchor point A0~A7 are corresponding to it respectively, and in the beginning of each slot cycle, corresponding anchor point is sent out
Positioning signal is sent, for example, anchor point A1 is carved at the beginning of time slot T1 sends positioning signal.
A0 and A1, which is sent, to be located signal to time difference of Tag and is：
Δ=δ rx- δ tx=δ rx- (Tslot+ Δ t1)
δ tx=Tslot+ Δs t1
Wherein, Tslot is slot cycle constant, and Δ t1 is that A0 sends the flight time for locating signal to A1.Due to
Delay sending time can be arranged in DW1000 (transmission can be preengage by being equivalent to), that is to say, that in the transmission positioning for receiving A0
It when signal, is sent after Tslot can be accurately set at, to accurately control time slot constant.
It is to determine due to the distance between A0 and A1, A0 is equal with the flight time of A1 back and forth, by repeatedly surveying
Amount can obtain Δ t1 values.The time of A1 is namely set to have carried out synchronous alignment with A0.
Can be in the hope of Δ=δ rx- δ tx, that is, A0 and A1 sends the time difference that locate signal to Tag, it similarly, can be in the hope of
Go out the time difference of A0 and other anchor points.
The sub- positioning system of UWB three-dimensional localizations preengages sending function, simultaneously using TDOA, UWB module based on the time-division
The property being to determine according to the distance between anchor point can make the time of A1~A7 and A0 synchronize alignment, that is, each
It is synchronized between anchor point, the time differences for locating signal to Tag flights of A0~A7 between any two is easy to get after synchronous.
In step 2), the minute vehicle subsystem carries DW1000 super wideband wireless transceiver modules as positioning
Label receives the positioning signal from 8 positioning anchor points, by the method for the TDoA based on the time-division, obtains 8 positioning anchor point A0
The time differences for locating signal to Tag flights of~A7 between any two, are calculated using least square method, Taylor series expansion or chan
Method carries out the resolving of three-dimensional coordinate, obtains the current position of aircraft (x, y, z) in real time；
The minute vehicle subsystem also carries 2.4Ghz wireless chips and PC server is communicated；It is set on aircraft
It sets a broadcast address and unicast address, is operated on the same channel on all aircraft in system.
In step 5), the coordinator is the interface of PC server control and transceiving data, the Ethernet on coordinator
Interface is connected by router with PC server；2.4Ghz wireless interfaces on coordinator forward the order from Ethernet interface
And data, it is the interface that data exchange is carried out with aircraft.
When carrying out the transmission of flight pattern, unicast address and coordinator that aircraft uses carry out one-to-one data biography
It is defeated；Broadcast address is used when flight, sends synchronic command, recovery command etc.；The state of aircraft is known when flight if necessary
And parameter, use unicast address and aircraft communication.
The present invention is small for indoor and outdoors using ultra wide band (UWB) wireless communication technique and the TDoA technologies of time-division structure
The 3 D positioning system in type region uses a variety of skills such as miniature four-axle aircraft formation navigation flight technology and LED light regulating technologies
What art was combined, it can be used for the performance system of indoor and outdoors small area.As a result of the TDOA skills based on UWB timesharing
The technology that art, unmanned plane cluster flight pattern distribution memory technology, the synchronization of PC coordinators and motor synchronizing are combined, theoretically participates in
The unmanned plane quantity of performance is unrestricted, can also reduce the price of whole system.
Description of the drawings
Fig. 1 is the structure composition schematic diagram of the unmanned plane formation performance system of the present invention based on UWB positioning.
Fig. 2 is time-division TDoA.
Fig. 3 is that aircraft adjusts coordinate according to flight pattern.
Specific implementation mode
The present invention is further illustrated for the method implemented in detail below.
As shown in Figure 1, the unmanned plane formation performance system embodiment based on UWB positioning is equipped with UWB three-dimensional localization
System 1, minute vehicle subsystem 2, formation navigation subsystem 3, coordinator 4 and router 5；
The UWB three-dimensional localizations subsystem 1 is by 8 positioning anchor point A1~A7 groups based on super wideband wireless transceiver module
At described 8 positioning anchor point A1~A7 based on super wideband wireless transceiver module are cycled through in slot cycle T0~T7 successively
Positioning signal；
The minute vehicle subsystem is by Cortex M4MCU, gyroscope acceleration transducer, motor driver, UWB
The flash memory of Tag, 2.4GHz communication module, all-colour LED light-adjusting module and large capacity forms；
The formation navigation subsystem 3 uses flight map by computer simulation minute vehicle cluster flight pattern
Case is distributed memory technology；
The coordinator 4 is the interface of PC server control and transceiving data, and the Ethernet interface of coordinator 4 passes through routing
Device 5 is connected with PC server；The 2.4Ghz wireless interfaces of coordinator 4 forward the order and data from Ethernet interface, the association
It is the interface that data exchange is carried out with aircraft to adjust the 2.4Ghz wireless interfaces of device 4.
8 anchor points cycle through positioning signal in slot cycle T0~T7 successively and can be used the TDoA's based on the time-division
Method.
Full color dimming LED (Light Emitting Diode) is carried as luminous point, all minute vehicle light in 2 bottom of minute vehicle subsystem
Point is arranged in the preset dynamic pattern of computer.
The implementation method of the unmanned plane formation performance based on UWB positioning includes the following steps：
1. UWB three-dimensional localization subsystems are built, for indoor and outdoor minitype region.The positioning system is by 8
The positioning anchor point of the super wideband wireless transceiver module of DW1000 forms, and using the method for the TDoA based on the time-division, 8 anchor points are successively
Positioning signal is cycled through, the UWB modules that minute vehicle subsystem carries receive positioning signal as positioning label.Entirely
System provides the demand of the positioning of the interior and small area that meet positioning accuracy ± 10cm.
As shown in Fig. 2, 8 time slots T0~T7,8 positioning anchor point A0~A7 defined in positioning system are right therewith respectively
It answers, and in the beginning of each time slot, corresponding anchor point sends positioning signal, for example, anchor point A1 is at the beginning of time slot T1
Send positioning signal.
A0 and A1, which is sent, to be located signal to time difference of Tag and is：
Δ=δ rx- δ tx=δ rx- (Tslot+ Δ t1)
δ tx=Tslot+ Δs t1
Wherein, Tslot is slot cycle constant, and Δ t1 is that A0 sends the flight time for locating signal to A1, due to
Delay sending time can be arranged in DW1000 (being equivalent to " can preengage " transmission), that is to say, that fixed in the transmission for receiving A0
When the signal of position, sent after Tslot can be accurately set at, to accurately control time slot constant.
It is to determine due to the distance between anchor point A0 and A1, the flight time of A0~A1 back and forth is equal, so Δ
T1=(trx0-t0-Tslot)/2 can obtain Δ t1 values by repeatedly measuring.
The time difference for locating signal to Tag can be sent in the hope of Δ=δ rx- δ tx, that is, A0 and A1.It similarly, can be in the hope of
Go out the time difference of A0 and other anchor points.
Use the method for time-division, UWB modules " reservation is sent " function, while the property being to determine according to the distance between anchor point
Matter can be that the time of A1~A7 and A0 are aligned, that is, are synchronized between each anchor point, be easy to get after synchronous
The time difference of the positioning signal flights of A0~A7 between any two.
As shown in figure 3, after system synchronization alignment, the UWB modules that are mounted on minute vehicle can calculate A0~
The time difference of the positioning signal flights of A7 between any two.And all may be used using least square method, Taylor series expansion, chan algorithms
To carry out the resolving of three-dimensional coordinate, (x, y, the z) coordinate in current flight device space is obtained.
2. minute vehicle subsystem is by Cortex M4MCU, gyroscope acceleration transducer, motor driver, UWB
The flash memory of Tag, 2.4GHz communication module, all-colour LED light-adjusting module and large capacity forms.
Carry gyroscope, the flight attitude of acceleration transducer capture aircraft forms one in conjunction with pid control algorithm
Automatic feedback system allows aircraft to reach stabilized flight；
The super wideband wireless transceiver module based on DW1000 is carried as positioning label, receives and positions anchor point from 8
Positioning signal obtains 8 positioning anchor point A0~A7 locating signal between any two by the method for the TDOA based on the time-division
The difference of Tag flight time carries out the resolving of three-dimensional coordinate using least square method, Taylor series expansion or chan algorithms, real
When obtain the current position of aircraft；
Carry the good flight pattern of the flash memory memory utilization of large capacity.Each synchronizing cycle, MCU was from memory
The three-dimensional coordinate of middle taking-up preset coordinate and real-time resolving is compared, and the motor control that comparison result is used to adjust aircraft flies
The motion state of row device makes the position of aircraft be continuously subject to preset coordinate.
It carries full color dimming LED (Light Emitting Diode) and is used as " luminous point " in aircraft bottom.Each synchronizing cycle, MCU took out from memory
Preset value controls the color and brightness change of luminous point." luminous point " of all aircraft is arranged in the preset pattern of computer.
It carries 2.4Ghz wireless chips and PC server is communicated；One broadcast address and unicast are set on aircraft
Location is operated on the same channel on all aircraft in system.
3. formation navigation subsystem by computer simulation minute vehicle cluster flight pattern, and uses flight pattern
It is distributed memory technology.
After determining flight scenario demand, by the flight pattern of computer simulation minute vehicle cluster, and acquire
The flight path of each " luminous point " (minute vehicle), that is, obtain the three-dimensional coordinate of each " luminous point " flight path, color and
Flying speed is sent to each aircraft, and aircraft is stored in the large capacity flash memory of oneself after receiving flight pattern
In, realize the distribution memory technology of flight pattern.Due to using massive store, aircraft that can store multiple flight patterns.
Formation navigation subsystem synchronizes the scheme being combined with aircraft motor synchronizing using coordinator, reduces communication load
And communication failure：After finishing patterns transmission, PC sends synchronic command, institute by the synchronizing cycle of each 100ms of coordinator
When receiving synchronic command, the work clock of aircraft is aligned some aircraft with the work clock of PC coordinators；Together
After step, the update of each synchronizing cycle, the flight path, color and flying speed of aircraft synchronize；Due to synchronizing
Alignment, when being not received by synchronic command once in a while, minute vehicle can also carry out aircraft according to the work clock of oneself
The synchronized update of the flight path of oneself；When entire flight scenario is finished, PC coordinators send out recovery command, aircraft
It makes a return voyage.
4. coordinator is the interface of PC server control and transceiving data.The Ethernet interface of coordinator, passes through router
It is connected with PC server；The 2.4Ghz wireless interfaces of coordinator forward the order and data from Ethernet interface, are and aircraft
Carry out the interface of data exchange.
When carrying out the transmission of flight pattern, unicast address and coordinator that aircraft uses carry out one-to-one data biography
It is defeated；Broadcast address is used when flight, sends synchronic command, recovery command etc.；The state of aircraft is known when flight if necessary
And parameter, use unicast address and aircraft communication.
The present invention is small for indoor and outdoors using ultra wide band (UWB) wireless communication technique and the TDoA technologies of time-division structure
The 3 D positioning system in type region, using miniature four-axle aircraft formation navigation flight technology and full-color LED light modulation, (adjustment is bright
Degree and coloration) multiple technologies such as technology are combined, it can be used for the performance system of indoor and outdoors small area.In three-dimensional localization
In region, aircraft cluster carries out navigation flight according to the track of planning, while control is mounted on multiple minute vehicles
Various static and dynamic flying patterns are constructed in the colour switching of the LED light of tunable optical, to generate stronger vision effect
Fruit.As a result of based on UWB timesharing TDoA technologies, computer simulation minute vehicle cluster flight patterning technique, nobody
The technology that machine cluster flight pattern distribution memory technology, the synchronization of PC coordinators and motor synchronizing are combined, theoretically participates in performance
Unmanned plane quantity is unrestricted, can also reduce the price of whole system.
Claims (7)
1. a kind of unmanned plane formation performance system based on UWB positioning, it is characterised in that be equipped with UWB three-dimensional localizations subsystem, micro-
Type aircraft subsystem, formation navigation subsystem, router and coordinator；
The UWB three-dimensional localizations subsystem is made of 8 positioning anchor point A1~A7 based on super wideband wireless transceiver module, described
8 positioning anchor point A1~A7 based on super wideband wireless transceiver module cycle through positioning letter in slot cycle T0~T7 successively
Number；
The minute vehicle subsystem is by Cortex M4 MCU, gyroscope acceleration transducer, motor driver, UWB
The flash memory of Tag, 2.4GHz communication module, all-colour LED light-adjusting module and large capacity forms；
The formation navigation subsystem is distributed by computer simulation minute vehicle cluster flight pattern, and using flight pattern
Memory technology；
The coordinator is the interface of PC server control and transceiving data, and the Ethernet interface of coordinator passes through router and PC
Server connects；The 2.4Ghz wireless interfaces of coordinator forward the order and data from Ethernet interface, the coordinator
2.4Ghz wireless interfaces are the interfaces that data exchange is carried out with aircraft.
2. a kind of unmanned plane formation performance system based on UWB positioning as described in claim 1, it is characterised in that 8 bases
Positioning signal is cycled through in positioning anchor point A1~A7 of super wideband wireless transceiver module in slot cycle T0~T7 successively to use
The method of TDoA based on the time-division.
3. a kind of unmanned plane formation performance system based on UWB positioning as described in claim 1, it is characterised in that described miniature winged
Full color dimming LED (Light Emitting Diode) is carried as luminous point in row device subsystem bottom, and all minute vehicle spot arrangements are default at computer
Dynamic pattern.
The implementation method of performance 4. the unmanned plane based on UWB positioning is formed into columns, it is characterised in that using such as it in claims 1 to 3
A kind of one unmanned plane formation performance system based on UWB positioning, the described method comprises the following steps：
1) UWB three-dimensional localizations subsystem is made of 8 positioning anchor point A0~A7 based on super wideband wireless transceiver module, using base
In the method for the TDoA of time-division, 8 anchor points cycle through positioning signal in slot cycle T0~T7 successively；
It is accurately controlled slot cycle Tslot using DW1000 modules reservation sending function and is according to the distance between anchor point
Determining property can be such that the time of A1~A7 and A0 is aligned, and the work clock of each anchor point is made to synchronize, micro- after synchronous
The carry-on UWB modules of type are easy to get the time differences for locating signal to Tag and flying of A0~A7 between any two, and make
The resolving that three-dimensional coordinate is carried out with least square method, Taylor series expansion, chan algorithms obtains aircraft changing coordinates x, y, z；
2) minute vehicle subsystem by Cortex M4 MCU, gyroscope acceleration transducer, motor driver, UWB Tag,
The flash memory of 2.4GHz communication modules, all-colour LED light-adjusting module and large capacity forms；
In the good flight pattern of flash memory distribution memory utilization of the large capacity with oneself relevant part, each
Synchronizing cycle, MCU took out preset coordinate and the three-dimensional coordinate of real-time resolving is compared from memory, and result of the comparison is used for
The motor of aircraft is adjusted to control the motion state of aircraft, the position of aircraft is made to be continuously subject to preset coordinate；
Full color dimming LED (Light Emitting Diode) is carried as luminous point in minute vehicle subsystem bottom, each synchronizing cycle, MCU was from storage
Preset value is taken out in device, controls the color and brightness change of luminous point, and all minute vehicle spot arrangements are pre- at computer
If dynamic pattern；
3) formation navigation subsystem is deposited by computer simulation minute vehicle cluster flight pattern, and using the distribution of flight pattern
Storage technology；
After determining flight scenario demand, by the flight pattern of computer simulation minute vehicle cluster, and acquire each
The flight path of luminous point, that is, three-dimensional coordinate, color and the flying speed for obtaining each luminous point flight path are sent to aircraft,
Aircraft receive be stored in large capacity flash memory after oneself relevant flight pattern, realize flight pattern
It is distributed memory technology, due to being stored using massive store and distribution, aircraft can store multiple flight patterns；
4) scheme that formation navigation subsystem is synchronized using coordinator and aircraft motor synchronizing is combined reduces communication load and leads to
Believe failure：After finishing patterns transmission, PC sends synchronic command, all aircraft by coordinator in each synchronizing cycle
When receiving synchronic command, the work clock of aircraft is synchronized with the work clock of PC coordinators to be aligned；When performance, fly
Row device synchronizes update after receiving synchronic command to the flight path of oneself, color and flying speed；Do not having once in a while
When receiving synchronic command, minute vehicle can also carry out the synchronized update of flight path according to the work clock of oneself；
When entire flight scenario is finished, PC coordinators send out recovery command, and aircraft makes a return voyage；
5) coordinator is the interface of PC server control and transceiving data, and the Ethernet interface of coordinator is taken by router and PC
Business device connection；The 2.4Ghz wireless interfaces of coordinator forward the order and data from Ethernet interface, are with aircraft into line number
According to the interface of exchange.
The implementation method of performance 5. the unmanned plane as claimed in claim 4 based on UWB positioning is formed into columns, it is characterised in that in step 1)
In, in the sub- positioning system of UWB three-dimensional localizations, the method for the TDoA based on the time-division defines 8 time slot T0~T7,8 positioning
Anchor point A0~A7 is corresponding to it respectively, and in the beginning of each slot cycle, and corresponding anchor point sends positioning signal；
A0 and A1, which is sent, to be located signal to time difference of Tag and is：
Δ=δ rx- δ tx=δ rx- (Tslot+ Δ t1)
δ tx=Tslot+ Δs t1
Wherein, Tslot is slot cycle constant, and Δ t1 is that A0 sends the flight time for locating signal to A1, since DW1000 is set
Delay sending time is set, i.e., in the transmission positioning signal for receiving A0, is sent after being accurately set at Tslot, to accurately control
Time slot constant processed；
It is to determine due to the distance between A0 and A1, A0 is equal with the flight time of A1 back and forth, by repeatedly measuring
Go out Δ t1 values, even if the time of A1 has carried out synchronous alignment with A0；
It acquires Δ=δ rx- δ tx, i.e. A0 and A1 and sends the time difference for locating signal to Tag, similarly, find out A0 and other anchor points
Time difference；
The sub- positioning system of UWB three-dimensional localizations preengages sending function, while basis using TDOA, UWB module based on the time-division
The property that the distance between anchor point is to determine, make the time of A1~A7 and A0 synchronize between alignment, that is, each anchor point into
It has gone synchronization, the time differences for locating signal to Tag flights of A0~A7 between any two is easy to get after synchronous.
The implementation method of performance 6. the unmanned plane as claimed in claim 4 based on UWB positioning is formed into columns, it is characterised in that in step 2)
In, the minute vehicle subsystem carries DW1000 super wideband wireless transceiver modules as positioning label, receives and come from 8
The positioning signal for positioning anchor point obtains 8 positioning anchor point A0~A7 determining between any two by the method for the TDoA based on the time-division
The time difference that position signal flies to Tag carries out three-dimensional coordinate using least square method, Taylor series expansion or chan algorithms
It resolves, obtains the current position of aircraft in real time；
The minute vehicle subsystem also carries 2.4Ghz wireless chips and PC server is communicated；One is arranged on aircraft
A broadcast address and unicast address are operated on the same channel on all aircraft in system.
The implementation method of performance 7. the unmanned plane as claimed in claim 4 based on UWB positioning is formed into columns, it is characterised in that in step 5)
In, the coordinator is the interface of PC server control and transceiving data, the Ethernet interface on coordinator, by router and
PC server connects；2.4Ghz wireless interfaces on coordinator forward the order and data from Ethernet interface, are and aircraft
Carry out the interface of data exchange；
When carrying out the transmission of flight pattern, unicast address and coordinator that aircraft uses carry out one-to-one data transmission；Fly
Broadcast address is used when row, sends synchronic command, recovery command；The state and parameter of aircraft are known when flight if necessary,
Use unicast address and aircraft communication.
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